Abstract. The paper addresses the role of dynamics in the control
of robots interacting with a dynamic environment. The objective is to define
is it necessary to include compensation for the different dynamic factor
in the position/force control law. Starting from the complete dynamic model
of the robot and of the environment, the effects of different dynamic factors
upon position and force control of the robot are analysed. The control
law based on complete inverse dynamic model and the decentralised control
law are compared. The dynamics effects are first qualitatively analysed,
and then an approach to explore these effects based on analysis of the
practical stability of manipulation robots in the constrained motion control
tasks is presented. The elaborated stability test can be used to check
for each particular robot structure and environment and for different control
tasks which dynamic effects have to be taken into account.